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<div class="title">pino_kin_dyn.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">   12</a></span>&#160;<a class="code" href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">Pin_KinDyn::Pin_KinDyn</a>(std::string urdf_pathIn) {</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    pinocchio::JointModelFreeFlyer root_joint;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    pinocchio::urdf::buildModel(urdf_pathIn,root_joint,model_biped);</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    pinocchio::urdf::buildModel(urdf_pathIn,model_biped_fixed);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    data_biped=pinocchio::Data(model_biped);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    data_biped_fixed=pinocchio::Data(model_biped_fixed);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>=model_biped.nv;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">J_l</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">J_r</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <a class="code" href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">J_hd_l</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <a class="code" href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">J_hd_r</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">J_base</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">dJ_l</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <a class="code" href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">dJ_r</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">dJ_hd_l</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">dJ_hd_r</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">dJ_base</a>=Eigen::MatrixXd::Zero(6,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>.setZero();</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>.setZero();</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">ddq</a>.setZero();</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Rcur</a>.setIdentity();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">dyn_M</a>=Eigen::MatrixXd::Zero(<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">dyn_M_inv</a>=Eigen::MatrixXd::Zero(<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a>=Eigen::MatrixXd::Zero(<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>,<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a>=Eigen::MatrixXd::Zero(<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>,1);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="comment">// get joint index for Pinocchio Lib, need to redefined the joint name for new model</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    r_ankle_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    l_ankle_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    r_hand_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_arm_r_07&quot;</span>);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    l_hand_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_arm_l_07&quot;</span>);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    r_hand_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_arm_r_07&quot;</span>);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    l_hand_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_arm_l_07&quot;</span>);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    r_hip_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    l_hip_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    r_ankle_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    l_ankle_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    r_hip_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    l_hip_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    base_joint=model_biped.getJointId(<span class="stringliteral">&quot;root_joint&quot;</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// read joint pvt parameters</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    Json::Reader reader;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Json::Value root_read;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    std::ifstream in(<span class="stringliteral">&quot;joint_ctrl_config.json&quot;</span>,std::ios::binary);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">motorMaxTorque</a>=Eigen::VectorXd::Zero(<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a>=Eigen::VectorXd::Zero(<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size());</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a>=Eigen::VectorXd::Zero(<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    reader.parse(in,root_read);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size();i++){</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <a class="code" href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">motorMaxTorque</a>(i)=(root_read[<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>[i]][<span class="stringliteral">&quot;maxTorque&quot;</span>].asDouble());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a>(i)=(root_read[<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>[i]][<span class="stringliteral">&quot;maxPos&quot;</span>].asDouble());</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <a class="code" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a>(i)=(root_read[<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>[i]][<span class="stringliteral">&quot;minPos&quot;</span>].asDouble());</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a>.assign(<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size(),<span class="keyword">false</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a>=Eigen::VectorXd::Zero(<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">   71</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">Pin_KinDyn::dataBusRead</a>(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>=robotState.<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>=robotState.<a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">ddq</a>=robotState.<a class="code" href="structDataBus.html#a0564a337e371809806d164ce3946de28">ddq</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">   77</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">Pin_KinDyn::dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    robotState.<a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>=<a class="code" href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">J_l</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    robotState.<a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>=<a class="code" href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">J_r</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    robotState.<a class="code" href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">J_base</a>=<a class="code" href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">J_base</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    robotState.<a class="code" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a>=<a class="code" href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">dJ_l</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    robotState.<a class="code" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a>=<a class="code" href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">dJ_r</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    robotState.<a class="code" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">J_hd_l</a>=<a class="code" href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">J_hd_l</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    robotState.<a class="code" href="structDataBus.html#a8174314fc64353b48695467949dddb20">J_hd_r</a>=<a class="code" href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">J_hd_r</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    robotState.<a class="code" href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">dJ_hd_l</a>=<a class="code" href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">dJ_hd_l</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    robotState.<a class="code" href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">dJ_hd_r</a>=<a class="code" href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">dJ_hd_r</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    robotState.<a class="code" href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">dJ_base</a>=<a class="code" href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">dJ_base</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    robotState.<a class="code" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">fe_l_pos_W</a>=<a class="code" href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">fe_l_pos</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    robotState.<a class="code" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">fe_r_pos_W</a>=<a class="code" href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">fe_r_pos</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    robotState.<a class="code" href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">fe_l_pos_L</a>=<a class="code" href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">fe_l_pos_body</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    robotState.<a class="code" href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">fe_r_pos_L</a>=<a class="code" href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">fe_r_pos_body</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    robotState.<a class="code" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">fe_l_rot_W</a>=<a class="code" href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">fe_l_rot</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    robotState.<a class="code" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">fe_r_rot_W</a>=<a class="code" href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">fe_r_rot</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    robotState.<a class="code" href="structDataBus.html#a95d6800597841b02f27880933a50ef70">fe_l_rot_L</a>=<a class="code" href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">fe_l_rot_body</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    robotState.<a class="code" href="structDataBus.html#a8e2b1bd1613049d6fa70ae08830aa034">fe_r_rot_L</a>=<a class="code" href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">fe_r_rot_body</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    robotState.<a class="code" href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">hip_r_pos_L</a>=<a class="code" href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">hip_r_pos_body</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    robotState.<a class="code" href="structDataBus.html#a202f9dff68b4a72cca3ee73d6e80553e">hip_l_pos_L</a>=<a class="code" href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">hip_l_pos_body</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    robotState.<a class="code" href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">hip_r_pos_W</a>=<a class="code" href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">hip_r_pos</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    robotState.<a class="code" href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">hip_l_pos_W</a>=<a class="code" href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">hip_l_pos</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    robotState.<a class="code" href="structDataBus.html#aa460fea6d01355839c3508373c607170">hd_l_pos_L</a>=<a class="code" href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">hd_l_pos_body</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    robotState.<a class="code" href="structDataBus.html#a938f8a1673963dde6924779b9377f3f6">hd_l_rot_L</a>=<a class="code" href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">hd_l_rot_body</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    robotState.<a class="code" href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">hd_l_pos_W</a>=<a class="code" href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">hd_l_pos</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    robotState.<a class="code" href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">hd_l_rot_W</a>=<a class="code" href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">hd_l_rot</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    robotState.<a class="code" href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">hd_r_pos_L</a>=<a class="code" href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">hd_r_pos_body</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    robotState.<a class="code" href="structDataBus.html#a30ea99f034a267da0c909900a972f132">hd_r_rot_L</a>=<a class="code" href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">hd_r_rot_body</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    robotState.<a class="code" href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">hd_r_pos_W</a>=<a class="code" href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">hd_r_pos</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    robotState.<a class="code" href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">hd_r_rot_W</a>=<a class="code" href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">hd_r_rot</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    robotState.<a class="code" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">dyn_M</a>=<a class="code" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">dyn_M</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    robotState.<a class="code" href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">dyn_M_inv</a>=<a class="code" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">dyn_M_inv</a>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    robotState.<a class="code" href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">dyn_C</a>=<a class="code" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    robotState.<a class="code" href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">dyn_G</a>=<a class="code" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    robotState.<a class="code" href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">dyn_Ag</a>=<a class="code" href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">dyn_Ag</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    robotState.<a class="code" href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">dyn_dAg</a>=<a class="code" href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">dyn_dAg</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    robotState.<a class="code" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">dyn_Non</a>=<a class="code" href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">dyn_Non</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    robotState.<a class="code" href="structDataBus.html#a5e70930038178da11905e640cfb957d3">inertia</a> = <a class="code" href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">inertia</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">// update jacobians and joint positions</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">  121</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">Pin_KinDyn::computeJ_dJ</a>() {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    pinocchio::forwardKinematics(model_biped,data_biped,<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    pinocchio::computeJointJacobians(model_biped,data_biped,<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    pinocchio::computeJointJacobiansTimeVariation(model_biped,data_biped,<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>,<a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    pinocchio::updateGlobalPlacements(model_biped,data_biped);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,r_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">J_r</a>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,l_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">J_l</a>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,r_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">J_hd_r</a>);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,l_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">J_hd_l</a>);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,base_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">J_base</a>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,r_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">dJ_r</a>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,l_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">dJ_l</a>);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,r_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">dJ_hd_r</a>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,l_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">dJ_hd_l</a>);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,base_joint,pinocchio::LOCAL_WORLD_ALIGNED,<a class="code" href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">dJ_base</a>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <a class="code" href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">fe_l_pos</a>=data_biped.oMi[l_ankle_joint].translation();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <a class="code" href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">fe_l_rot</a>=data_biped.oMi[l_ankle_joint].rotation();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <a class="code" href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">hip_l_pos</a>=data_biped.oMi[l_hip_joint].translation();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <a class="code" href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">fe_r_pos</a>=data_biped.oMi[r_ankle_joint].translation();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <a class="code" href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">fe_r_rot</a>=data_biped.oMi[r_ankle_joint].rotation();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <a class="code" href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">hip_r_pos</a>=data_biped.oMi[r_hip_joint].translation();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <a class="code" href="classPin__KinDyn.html#a79512bb0eb39b4ba78d0c36ce1a739cf">base_pos</a>=data_biped.oMi[base_joint].translation();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">base_rot</a>=data_biped.oMi[base_joint].rotation();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">hd_l_pos</a>=data_biped.oMi[l_hand_joint].translation();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <a class="code" href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">hd_l_rot</a>=data_biped.oMi[l_hand_joint].rotation();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">hd_r_pos</a>=data_biped.oMi[r_hand_joint].translation();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <a class="code" href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">hd_r_rot</a>=data_biped.oMi[r_hand_joint].rotation();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    Eigen::VectorXd q_fixed;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    q_fixed=<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>.block(7,0,model_biped_fixed.nv,1);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,q_fixed);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    pinocchio::updateGlobalPlacements(model_biped_fixed,data_biped_fixed);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <a class="code" href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">fe_l_pos_body</a>=data_biped_fixed.oMi[l_ankle_joint_fixed].translation();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">fe_r_pos_body</a>=data_biped_fixed.oMi[r_ankle_joint_fixed].translation();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <a class="code" href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">fe_l_rot_body</a>=data_biped_fixed.oMi[l_ankle_joint_fixed].rotation();</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">fe_r_rot_body</a>=data_biped_fixed.oMi[r_ankle_joint_fixed].rotation();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <a class="code" href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">hip_l_pos_body</a>=data_biped_fixed.oMi[l_hip_joint_fixed].translation();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <a class="code" href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">hip_r_pos_body</a>=data_biped_fixed.oMi[r_hip_joint_fixed].translation();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">hd_l_pos_body</a>=data_biped_fixed.oMi[l_hand_joint_fixed].translation();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">hd_l_rot_body</a>=data_biped_fixed.oMi[l_hand_joint_fixed].rotation();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <a class="code" href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">hd_r_pos_body</a>=data_biped_fixed.oMi[r_hand_joint_fixed].translation();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <a class="code" href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">hd_r_rot_body</a>=data_biped_fixed.oMi[r_hand_joint_fixed].rotation();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">  165</a></span>&#160;Eigen::Quaterniond <a class="code" href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">Pin_KinDyn::intQuat</a>(<span class="keyword">const</span> Eigen::Quaterniond &amp;quat, <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;w) {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        Eigen::Matrix3d <a class="code" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Rcur</a>=quat.normalized().toRotationMatrix();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        Eigen::Matrix3d Rinc=Eigen::Matrix3d::Identity();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">double</span> theta=w.norm();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordflow">if</span> (theta&gt;1e-8) {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            Eigen::Vector3d w_norm;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            w_norm = w / theta;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            Eigen::Matrix3d a;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            a &lt;&lt; 0, -w_norm(2), w_norm(1),</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                    w_norm(0), 0, -w_norm(0),</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                    -w_norm(1), w_norm(0), 0;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            Rinc=Eigen::Matrix3d::Identity()+a*sin(theta)+a*a*(1-cos(theta));</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        Eigen::Matrix3d Rend=<a class="code" href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Rcur</a>*Rinc;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        Eigen::Quaterniond quatRes;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        quatRes=Rend;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">return</span> quatRes;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;}</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">// intergrate the q with dq, for floating base dynamics</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">  185</a></span>&#160;Eigen::VectorXd <a class="code" href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">Pin_KinDyn::integrateDIY</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;qI, <span class="keyword">const</span> Eigen::VectorXd &amp;dqI) {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    Eigen::VectorXd qRes=Eigen::VectorXd::Zero(<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>+1);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    Eigen::Vector3d wDes;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    wDes&lt;&lt;dqI(3),dqI(4),dqI(5);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    Eigen::Quaterniond quatNew,quatNow;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    quatNow.x()=qI(3);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    quatNow.y()=qI(4);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    quatNow.z()=qI(5);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    quatNow.w()=qI(6);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    quatNew= <a class="code" href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">intQuat</a>(quatNow,wDes);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    qRes=qI;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    qRes(0)+=dqI(0);qRes(1)+=dqI(1);qRes(2)+=dqI(2);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    qRes(3)=quatNew.x();qRes(4)=quatNew.y();qRes(5)=quatNew.z();qRes(6)=quatNew.w();</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">model_nv</a>-6;i++)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        qRes(7+i)+=dqI(6+i);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">return</span> qRes;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">// update dynamic parameters, M*ddq+C*dq+G=tau</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">  204</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">Pin_KinDyn::computeDyn</a>() {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">// cal M</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    pinocchio::crba(model_biped, data_biped, <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// Pinocchio only gives half of the M, needs to restore it here</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    data_biped.M.triangularView&lt;Eigen::Lower&gt;() = data_biped.M.transpose().triangularView&lt;Eigen::Lower&gt;();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <a class="code" href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">dyn_M</a> = data_biped.M;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="comment">// cal Minv</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    pinocchio::computeMinverse(model_biped, data_biped, <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    data_biped.Minv.triangularView&lt;Eigen::Lower&gt;() = data_biped.Minv.transpose().triangularView&lt;Eigen::Lower&gt;();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <a class="code" href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">dyn_M_inv</a>=data_biped.Minv;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="comment">// cal C</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    pinocchio::computeCoriolisMatrix(model_biped, data_biped, <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>, <a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <a class="code" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a> = data_biped.C;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="comment">// cal G</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    pinocchio::computeGeneralizedGravity(model_biped, data_biped, <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <a class="code" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a> = data_biped.g;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">// cal Ag, Centroidal Momentum Matrix. First three rows: linear, other three rows: angular</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    pinocchio::dccrba(model_biped,data_biped,<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>,<a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    pinocchio::computeCentroidalMomentum(model_biped,data_biped,<a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>,<a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">dyn_Ag</a>=data_biped.Ag;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <a class="code" href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">dyn_dAg</a>=data_biped.dAg;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">// cal nonlinear item</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <a class="code" href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">dyn_Non</a>=<a class="code" href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">dyn_C</a>*<a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>+<a class="code" href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">dyn_G</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="comment">// cal I</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    pinocchio::ccrba(model_biped, data_biped, <a class="code" href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">q</a>, <a class="code" href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">dq</a>);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <a class="code" href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">inertia</a> = data_biped.Ig.inertia().matrix();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="comment">// cal CoM</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <a class="code" href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">CoM_pos</a> = data_biped.com[0];</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;}</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">// Inverse kinematics for leg posture. Note: the Rdes and Pdes are both w.r.t the baselink coordinate in body frame!</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<a class="code" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">  244</a></span>&#160;<a class="code" href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">Pin_KinDyn::computeInK_Leg</a>(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R,</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                           <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R) {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesL(Rdes_L, Pdes_L);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesR(Rdes_R, Pdes_R);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    Eigen::VectorXd qIk=Eigen::VectorXd::Zero(model_biped_fixed.nv); <span class="comment">// initial guess</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    qIk[22]=-0.1;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    qIk[28]=-0.1;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> eps  = 1e-4;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> IT_MAX  = 100;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> DT   = 7e-1;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> damp = 1e-2;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    Eigen::MatrixXd JL(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    Eigen::MatrixXd JR(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    Eigen::MatrixXd JCompact(12,model_biped_fixed.nv);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    JL.setZero();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    JR.setZero();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    JCompact.setZero();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; errL, errR;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    Eigen::Matrix&lt;double, 12,1&gt; errCompact;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    Eigen::VectorXd v(model_biped_fixed.nv);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    pinocchio::JointIndex J_Idx_l, J_Idx_r;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    J_Idx_l = l_ankle_joint_fixed;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    J_Idx_r = r_ankle_joint_fixed;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordtype">int</span> itr_count{0};</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">for</span> (itr_count=0;; itr_count++)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,qIk);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdL = data_biped_fixed.oMi[J_Idx_l].actInv(oMdesL);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdR = data_biped_fixed.oMi[J_Idx_r].actInv(oMdesR);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        errL = pinocchio::log6(iMdL).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        errR = pinocchio::log6(iMdR).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        errCompact.block&lt;6,1&gt;(0,0)=errL;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        errCompact.block&lt;6,1&gt;(6,0)=errR;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="keywordflow">if</span>(errCompact.norm() &lt; eps)</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">if</span> (itr_count &gt;= IT_MAX)</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_l,JL);  <span class="comment">// JL in joint frame</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_r,JR);  <span class="comment">// JR in joint frame</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        Eigen::MatrixXd W;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        W=Eigen::MatrixXd::Identity(model_biped_fixed.nv, model_biped_fixed.nv);   <span class="comment">// weighted matrix</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        W(16,16)=0.001;  <span class="comment">// use a smaller value to make the solver try not to use waist joint</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        W(17,17)=0.01;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        W(18,18)=0.01;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        pinocchio::Data::Matrix6 JlogL;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        pinocchio::Data::Matrix6 JlogR;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        pinocchio::Jlog6(iMdL.inverse(), JlogL);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        pinocchio::Jlog6(iMdR.inverse(), JlogR);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        JL = -JlogL * JL;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        JR = -JlogR * JR;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        JCompact.block(0,0,6,model_biped_fixed.nv)=JL;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        JCompact.block(6,0,6,model_biped_fixed.nv)=JR;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="comment">// pinocchio::Data::Matrix6 JJt;</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        Eigen::Matrix&lt;double,12,12&gt; JJt;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        JJt.noalias() = JCompact * W * JCompact.transpose();</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        JJt.diagonal().array() += damp;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        v.noalias() = - W * JCompact.transpose() * JJt.ldlt().solve(errCompact);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        qIk = pinocchio::integrate(model_biped_fixed,qIk,v*DT);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <a class="code" href="structPin__KinDyn_1_1IkRes.html">IkRes</a> res;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">err</a>=errCompact;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">itr</a>=itr_count;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">if</span>(success){</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">status</a>=0;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">status</a>=-1;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">jointPosRes</a>=qIk;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;}</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="comment">// Inverse Kinematics for hand posture. Note: the Rdes and Pdes are both w.r.t the baselink coordinate in body frame!</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<a class="code" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">  334</a></span>&#160;<a class="code" href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">Pin_KinDyn::computeInK_Hand</a>(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R,</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                            <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R) {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesL(Rdes_L, Pdes_L);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesR(Rdes_R, Pdes_R);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    Eigen::VectorXd qIk=Eigen::VectorXd::Zero(model_biped_fixed.nv); <span class="comment">// initial guess</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    qIk.block&lt;7,1&gt;(0,0)&lt;&lt; 0.433153883479341,    1.11739345867607,    1.88491913406236,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    0.802378252758275,    1.22726400279662,    0.0249797771339966,  -0.0875282610654057;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    qIk.block&lt;7,1&gt;(7,0)&lt;&lt;-0.433152540054138,   -1.11739347975224,  -1.88492038240761,</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    0.802375980602373,   -1.22726323451626,   0.0249795712262396, 0.0875271396314979;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> eps  = 1e-4;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> IT_MAX  = 100;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> DT   = 6e-1;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> damp = 1e-2;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    Eigen::MatrixXd JL(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    Eigen::MatrixXd JR(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    Eigen::MatrixXd JCompact(12,model_biped_fixed.nv);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    JL.setZero();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    JR.setZero();</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    JCompact.setZero();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; errL, errR;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    Eigen::Matrix&lt;double, 12,1&gt; errCompact;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    Eigen::VectorXd v(model_biped_fixed.nv);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    pinocchio::JointIndex J_Idx_l, J_Idx_r;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    J_Idx_l = l_hand_joint_fixed;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    J_Idx_r = r_hand_joint_fixed;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordtype">int</span> itr_count{0};</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">for</span> (itr_count=0;; itr_count++)</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,qIk);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdL = data_biped_fixed.oMi[J_Idx_l].actInv(oMdesL);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdR = data_biped_fixed.oMi[J_Idx_r].actInv(oMdesR);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        errL = pinocchio::log6(iMdL).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        errR = pinocchio::log6(iMdR).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        errCompact.block&lt;6,1&gt;(0,0)=errL;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        errCompact.block&lt;6,1&gt;(6,0)=errR;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        <span class="keywordflow">if</span>(errCompact.norm() &lt; eps)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;            success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordflow">if</span> (itr_count &gt;= IT_MAX)</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        {</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_l,JL);  <span class="comment">// JL in joint frame</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_r,JR);  <span class="comment">// JR in joint frame</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        pinocchio::Data::Matrix6 JlogL;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        pinocchio::Data::Matrix6 JlogR;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        pinocchio::Jlog6(iMdL.inverse(), JlogL);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        pinocchio::Jlog6(iMdR.inverse(), JlogR);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        JL = -JlogL * JL;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        JR = -JlogR * JR;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        JCompact.block(0,0,6,model_biped_fixed.nv)=JL;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        JCompact.block(6,0,6,model_biped_fixed.nv)=JR;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        <span class="comment">// pinocchio::Data::Matrix6 JJt;</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        Eigen::Matrix&lt;double,12,12&gt; JJt;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        JJt.noalias() = JCompact * JCompact.transpose();</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        JJt.diagonal().array() += damp;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        v.noalias() = - JCompact.transpose() * JJt.ldlt().solve(errCompact);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        qIk = pinocchio::integrate(model_biped_fixed,qIk,v*DT);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <a class="code" href="structPin__KinDyn_1_1IkRes.html">IkRes</a> res;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">err</a>=errCompact;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">itr</a>=itr_count;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordflow">if</span>(success){</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">status</a>=0;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">status</a>=-1;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    res.<a class="code" href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">jointPosRes</a>=qIk;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;}</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="comment">// must call computeDyn() first!</span></div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">  420</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">Pin_KinDyn::workspaceConstraint</a>(Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT) {</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;<a class="code" href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">motorName</a>.size();i++)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        <span class="keywordflow">if</span> (qFT(i+7)&gt;<a class="code" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a>(i)){</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;            qFT(i+7)=<a class="code" href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">motorMaxPos</a>(i);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;            <a class="code" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a>[i]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;            tauJointFT(i)=<a class="code" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a>(i);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (qFT(i+7)&lt;<a class="code" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a>(i)){</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;            qFT(i+7)=<a class="code" href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">motorMinPos</a>(i);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;            <a class="code" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a>[i]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;            tauJointFT(i)=<a class="code" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a>(i);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            <a class="code" href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">motorReachLimit</a>[i]=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <a class="code" href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">tauJointOld</a>=tauJointFT;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;}</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassPin__KinDyn_html_a432f42a03a22037c6e5372559269a711"><div class="ttname"><a href="classPin__KinDyn.html#a432f42a03a22037c6e5372559269a711">Pin_KinDyn::dataBusRead</a></div><div class="ttdeci">void dataBusRead(DataBus const &amp;robotState)</div><div class="ttdoc">read data from databus</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00071">pino_kin_dyn.cpp:71</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ade120aa2bb6cfbf18868b666e77e4711"><div class="ttname"><a href="classPin__KinDyn.html#ade120aa2bb6cfbf18868b666e77e4711">Pin_KinDyn::fe_l_pos</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos</div><div class="ttdoc">left foot-end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00068">pino_kin_dyn.h:68</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a0b23dde50899e66163d9ba2794c27ded"><div class="ttname"><a href="classPin__KinDyn.html#a0b23dde50899e66163d9ba2794c27ded">Pin_KinDyn::motorMinPos</a></div><div class="ttdeci">Eigen::VectorXd motorMinPos</div><div class="ttdoc">minimal position of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00042">pino_kin_dyn.h:42</a></div></div>
<div class="ttc" id="astructDataBus_html_a1e20ca2abda0e8342aa07eaf4b7adaa4"><div class="ttname"><a href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">DataBus::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">velocity variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00051">data_bus.h:51</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a743c47fe851c5dee9b852b760e9bf809"><div class="ttname"><a href="classPin__KinDyn.html#a743c47fe851c5dee9b852b760e9bf809">Pin_KinDyn::base_rot</a></div><div class="ttdeci">Eigen::Matrix3d base_rot</div><div class="ttdoc">base rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00082">pino_kin_dyn.h:82</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a541ccf408ed784361c031921a93137db"><div class="ttname"><a href="classPin__KinDyn.html#a541ccf408ed784361c031921a93137db">Pin_KinDyn::hip_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_body</div><div class="ttdoc">right hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00078">pino_kin_dyn.h:78</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aac50fbd6bdff3bc838de986315bf8cd7"><div class="ttname"><a href="classPin__KinDyn.html#aac50fbd6bdff3bc838de986315bf8cd7">Pin_KinDyn::hd_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_body</div><div class="ttdoc">right hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00074">pino_kin_dyn.h:74</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afed034fe61edaa6aa36df8c901fc9e28"><div class="ttname"><a href="classPin__KinDyn.html#afed034fe61edaa6aa36df8c901fc9e28">Pin_KinDyn::fe_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_body</div><div class="ttdoc">left foot-end position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00071">pino_kin_dyn.h:71</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a68879a33dfce772d488dcc245f54255b"><div class="ttname"><a href="classPin__KinDyn.html#a68879a33dfce772d488dcc245f54255b">Pin_KinDyn::J_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00059">pino_kin_dyn.h:59</a></div></div>
<div class="ttc" id="astructDataBus_html_a05ae4114523a0df9822667297ba5046d"><div class="ttname"><a href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">DataBus::fe_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_W</div><div class="ttdoc">left foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00065">data_bus.h:65</a></div></div>
<div class="ttc" id="astructDataBus_html_a938f8a1673963dde6924779b9377f3f6"><div class="ttname"><a href="structDataBus.html#a938f8a1673963dde6924779b9377f3f6">DataBus::hd_l_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_L</div><div class="ttdoc">right hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00090">data_bus.h:90</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5eba5c788410fe05e5fe243631f9e3b2"><div class="ttname"><a href="classPin__KinDyn.html#a5eba5c788410fe05e5fe243631f9e3b2">Pin_KinDyn::hd_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_body</div><div class="ttdoc">left hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00075">pino_kin_dyn.h:75</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab64e10d5034313bf4d7fc54e385686ad"><div class="ttname"><a href="classPin__KinDyn.html#ab64e10d5034313bf4d7fc54e385686ad">Pin_KinDyn::dyn_C</a></div><div class="ttdeci">Eigen::MatrixXd dyn_C</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00091">pino_kin_dyn.h:91</a></div></div>
<div class="ttc" id="astructDataBus_html_a95d6800597841b02f27880933a50ef70"><div class="ttname"><a href="structDataBus.html#a95d6800597841b02f27880933a50ef70">DataBus::fe_l_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_L</div><div class="ttdoc">left foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00077">data_bus.h:77</a></div></div>
<div class="ttc" id="astructDataBus_html_a28192a2cec986c703498af32d7b1de54"><div class="ttname"><a href="structDataBus.html#a28192a2cec986c703498af32d7b1de54">DataBus::hip_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_W</div><div class="ttdoc">right hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00074">data_bus.h:74</a></div></div>
<div class="ttc" id="astructDataBus_html_a2ebe414c042f067bc8819b43c9436832"><div class="ttname"><a href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">DataBus::hd_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_W</div><div class="ttdoc">right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00085">data_bus.h:85</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae58983c97f5e2f879f10054c6ba39e86"><div class="ttname"><a href="classPin__KinDyn.html#ae58983c97f5e2f879f10054c6ba39e86">Pin_KinDyn::dJ_hd_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00066">pino_kin_dyn.h:66</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a2b0c660fb563a580dde4f7d21d1737b0"><div class="ttname"><a href="classPin__KinDyn.html#a2b0c660fb563a580dde4f7d21d1737b0">Pin_KinDyn::motorMaxPos</a></div><div class="ttdeci">Eigen::VectorXd motorMaxPos</div><div class="ttdoc">maximal position of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00041">pino_kin_dyn.h:41</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a77dca70b3681c902798dc281c54a1791"><div class="ttname"><a href="classPin__KinDyn.html#a77dca70b3681c902798dc281c54a1791">Pin_KinDyn::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00095">pino_kin_dyn.h:95</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div><div class="ttdoc">the result of inverse kinematic</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00111">pino_kin_dyn.h:111</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a79512bb0eb39b4ba78d0c36ce1a739cf"><div class="ttname"><a href="classPin__KinDyn.html#a79512bb0eb39b4ba78d0c36ce1a739cf">Pin_KinDyn::base_pos</a></div><div class="ttdeci">Eigen::Vector3d base_pos</div><div class="ttdoc">base position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00069">pino_kin_dyn.h:69</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae6cb6e20875996c6243cc289f6bf127c"><div class="ttname"><a href="classPin__KinDyn.html#ae6cb6e20875996c6243cc289f6bf127c">Pin_KinDyn::fe_r_pos</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos</div><div class="ttdoc">right foot-end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00067">pino_kin_dyn.h:67</a></div></div>
<div class="ttc" id="astructDataBus_html_a1edc3a08678a00bdb4eb755a3157ec9b"><div class="ttname"><a href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">DataBus::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">position variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00050">data_bus.h:50</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a63a9d828bf82b54e7f6af65267b00b87"><div class="ttname"><a href="classPin__KinDyn.html#a63a9d828bf82b54e7f6af65267b00b87">Pin_KinDyn::hip_l_pos_body</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_body</div><div class="ttdoc">left hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00079">pino_kin_dyn.h:79</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a81eda1dcd228a9ab0c1d7de3993e6bf6"><div class="ttname"><a href="classPin__KinDyn.html#a81eda1dcd228a9ab0c1d7de3993e6bf6">Pin_KinDyn::motorMaxTorque</a></div><div class="ttdeci">Eigen::VectorXd motorMaxTorque</div><div class="ttdoc">maximal torques of motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00040">pino_kin_dyn.h:40</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afd752ffe2b038e1386023d41326574c8"><div class="ttname"><a href="classPin__KinDyn.html#afd752ffe2b038e1386023d41326574c8">Pin_KinDyn::computeInK_Leg</a></div><div class="ttdeci">IkRes computeInK_Leg(const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</div><div class="ttdoc">compute inverse kinematic of robot legs</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00244">pino_kin_dyn.cpp:244</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6d4d0b0e6535369bafaf10648502b4b5"><div class="ttname"><a href="classPin__KinDyn.html#a6d4d0b0e6535369bafaf10648502b4b5">Pin_KinDyn::dJ_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00063">pino_kin_dyn.h:63</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5268234bf043cf654a03ce51dfa315e1"><div class="ttname"><a href="classPin__KinDyn.html#a5268234bf043cf654a03ce51dfa315e1">Pin_KinDyn::workspaceConstraint</a></div><div class="ttdeci">void workspaceConstraint(Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT)</div><div class="ttdoc">constraint the joint output torques</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00420">pino_kin_dyn.cpp:420</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a2406329f82787e92aa8c3cfab10bda70"><div class="ttname"><a href="classPin__KinDyn.html#a2406329f82787e92aa8c3cfab10bda70">Pin_KinDyn::hd_l_rot</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot</div><div class="ttdoc">left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00086">pino_kin_dyn.h:86</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aba6977419785158480f4695fd3fec5dc"><div class="ttname"><a href="classPin__KinDyn.html#aba6977419785158480f4695fd3fec5dc">Pin_KinDyn::model_nv</a></div><div class="ttdeci">int model_nv</div><div class="ttdoc">model degree of freedom</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00048">pino_kin_dyn.h:48</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a860130a4374ecd0080a0e68830147f87"><div class="ttname"><a href="classPin__KinDyn.html#a860130a4374ecd0080a0e68830147f87">Pin_KinDyn::hd_l_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_body</div><div class="ttdoc">left hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00088">pino_kin_dyn.h:88</a></div></div>
<div class="ttc" id="astructDataBus_html_aa460fea6d01355839c3508373c607170"><div class="ttname"><a href="structDataBus.html#aa460fea6d01355839c3508373c607170">DataBus::hd_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_L</div><div class="ttdoc">right hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00088">data_bus.h:88</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae7e6121409beacc2a4c1f3214012a467"><div class="ttname"><a href="classPin__KinDyn.html#ae7e6121409beacc2a4c1f3214012a467">Pin_KinDyn::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of the dynamic parameters M</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00090">pino_kin_dyn.h:90</a></div></div>
<div class="ttc" id="astructDataBus_html_a72d6adca7adb79b4ed026eb6a75b7dce"><div class="ttname"><a href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">DataBus::J_base</a></div><div class="ttdeci">Eigen::MatrixXd J_base</div><div class="ttdoc">jacobian matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00054">data_bus.h:54</a></div></div>
<div class="ttc" id="astructDataBus_html_a30ea99f034a267da0c909900a972f132"><div class="ttname"><a href="structDataBus.html#a30ea99f034a267da0c909900a972f132">DataBus::hd_r_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_L</div><div class="ttdoc">left hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00089">data_bus.h:89</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a508a92b965d4044c361cc7a41afcb4b4"><div class="ttname"><a href="classPin__KinDyn.html#a508a92b965d4044c361cc7a41afcb4b4">Pin_KinDyn::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00093">pino_kin_dyn.h:93</a></div></div>
<div class="ttc" id="astructDataBus_html_a202f9dff68b4a72cca3ee73d6e80553e"><div class="ttname"><a href="structDataBus.html#a202f9dff68b4a72cca3ee73d6e80553e">DataBus::hip_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_L</div><div class="ttdoc">left hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00073">data_bus.h:73</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab39ac8df8d6b69f53d985eca28177b34"><div class="ttname"><a href="classPin__KinDyn.html#ab39ac8df8d6b69f53d985eca28177b34">Pin_KinDyn::fe_r_pos_body</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_body</div><div class="ttdoc">right foot-end position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00070">pino_kin_dyn.h:70</a></div></div>
<div class="ttc" id="astructDataBus_html_ab99c2d927ac41782cefe44509bf20322"><div class="ttname"><a href="structDataBus.html#ab99c2d927ac41782cefe44509bf20322">DataBus::dJ_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00063">data_bus.h:63</a></div></div>
<div class="ttc" id="astructDataBus_html_a5e70930038178da11905e640cfb957d3"><div class="ttname"><a href="structDataBus.html#a5e70930038178da11905e640cfb957d3">DataBus::inertia</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 3 &gt; inertia</div><div class="ttdoc">whole body inertia matrix w.r.t center of mass of robot, computed from pinocchio and used in MPC modu...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00106">data_bus.h:106</a></div></div>
<div class="ttc" id="astructDataBus_html_a97432e506d995437e3cb622002cac9d4"><div class="ttname"><a href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">DataBus::fe_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_W</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00068">data_bus.h:68</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aba5b9af499a3c3f81f490b54e34991c6"><div class="ttname"><a href="classPin__KinDyn.html#aba5b9af499a3c3f81f490b54e34991c6">Pin_KinDyn::hd_r_pos</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos</div><div class="ttdoc">right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00072">pino_kin_dyn.h:72</a></div></div>
<div class="ttc" id="astructDataBus_html_a8e2b1bd1613049d6fa70ae08830aa034"><div class="ttname"><a href="structDataBus.html#a8e2b1bd1613049d6fa70ae08830aa034">DataBus::fe_r_rot_L</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_L</div><div class="ttdoc">right foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00076">data_bus.h:76</a></div></div>
<div class="ttc" id="astructDataBus_html_a160475450d1af7e42d88d345c498f5ae"><div class="ttname"><a href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">DataBus::J_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00057">data_bus.h:57</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_adcb1509a37999bcbf637a95786b19efa"><div class="ttname"><a href="classPin__KinDyn.html#adcb1509a37999bcbf637a95786b19efa">Pin_KinDyn::fe_r_rot</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00080">pino_kin_dyn.h:80</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_ad8634d06c47f0ed2a216fe051b15ba46"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#ad8634d06c47f0ed2a216fe051b15ba46">Pin_KinDyn::IkRes::jointPosRes</a></div><div class="ttdeci">Eigen::VectorXd jointPosRes</div><div class="ttdoc">joint position of calculation</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00116">pino_kin_dyn.h:116</a></div></div>
<div class="ttc" id="astructDataBus_html_a614b57b26f48851c0da4a87721efe71b"><div class="ttname"><a href="structDataBus.html#a614b57b26f48851c0da4a87721efe71b">DataBus::hip_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos_L</div><div class="ttdoc">right hip position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00072">data_bus.h:72</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a87b2bf2c470ab43b90913000ac0d4f65"><div class="ttname"><a href="classPin__KinDyn.html#a87b2bf2c470ab43b90913000ac0d4f65">Pin_KinDyn::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00094">pino_kin_dyn.h:94</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8de858c5bd62babd3d36df437e08be92"><div class="ttname"><a href="classPin__KinDyn.html#a8de858c5bd62babd3d36df437e08be92">Pin_KinDyn::hd_l_pos</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos</div><div class="ttdoc">left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00073">pino_kin_dyn.h:73</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_adbc3d08c55bc3f94acf14cfe7e735eb3"><div class="ttname"><a href="classPin__KinDyn.html#adbc3d08c55bc3f94acf14cfe7e735eb3">Pin_KinDyn::fe_r_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_body</div><div class="ttdoc">right foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00083">pino_kin_dyn.h:83</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a9b1bd4ea240aa79f8316ac62f6ff7771"><div class="ttname"><a href="classPin__KinDyn.html#a9b1bd4ea240aa79f8316ac62f6ff7771">Pin_KinDyn::J_base</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_base</div><div class="ttdoc">jacobian matrix of the base link</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00057">pino_kin_dyn.h:57</a></div></div>
<div class="ttc" id="astructDataBus_html_a0564a337e371809806d164ce3946de28"><div class="ttname"><a href="structDataBus.html#a0564a337e371809806d164ce3946de28">DataBus::ddq</a></div><div class="ttdeci">Eigen::VectorXd ddq</div><div class="ttdoc">acceleration variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00052">data_bus.h:52</a></div></div>
<div class="ttc" id="astructDataBus_html_ad8eeb01c84d65c903a3e6190925af3f2"><div class="ttname"><a href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">DataBus::fe_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_W</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00067">data_bus.h:67</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_a55448e59ec34c0dd7df4f61e6784cfb9"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#a55448e59ec34c0dd7df4f61e6784cfb9">Pin_KinDyn::IkRes::status</a></div><div class="ttdeci">int status</div><div class="ttdoc">whether calculate successfully</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00113">pino_kin_dyn.h:113</a></div></div>
<div class="ttc" id="astructDataBus_html_a9582a6fdf672e9dd3f08a390758aafaf"><div class="ttname"><a href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">DataBus::hd_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_W</div><div class="ttdoc">left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00084">data_bus.h:84</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a879924f751764037e0c43570ac40ffab"><div class="ttname"><a href="classPin__KinDyn.html#a879924f751764037e0c43570ac40ffab">Pin_KinDyn::Rcur</a></div><div class="ttdeci">Eigen::Matrix3d Rcur</div><div class="ttdoc">current rotation matrix of robot in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00055">pino_kin_dyn.h:55</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_aa8801df8ff914baf5a07643afe6b80ca"><div class="ttname"><a href="classPin__KinDyn.html#aa8801df8ff914baf5a07643afe6b80ca">Pin_KinDyn::hd_r_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_body</div><div class="ttdoc">right hand rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00087">pino_kin_dyn.h:87</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a697a29a765cf30888bbf5bcd3c30da02"><div class="ttname"><a href="classPin__KinDyn.html#a697a29a765cf30888bbf5bcd3c30da02">Pin_KinDyn::tauJointOld</a></div><div class="ttdeci">Eigen::VectorXd tauJointOld</div><div class="ttdoc">last torques of joint</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00044">pino_kin_dyn.h:44</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a7fc88a3c811004ff7feb508dce849e65"><div class="ttname"><a href="classPin__KinDyn.html#a7fc88a3c811004ff7feb508dce849e65">Pin_KinDyn::computeDyn</a></div><div class="ttdeci">void computeDyn()</div><div class="ttdoc">compute the dynmaics coefficient of robot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00204">pino_kin_dyn.cpp:204</a></div></div>
<div class="ttc" id="astructDataBus_html_aa1bf2f25cbec034e564125d6890df8f7"><div class="ttname"><a href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">DataBus::hd_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_W</div><div class="ttdoc">right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00083">data_bus.h:83</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a61b9dfb8b579bbe132c0f1e48d2b4db7"><div class="ttname"><a href="classPin__KinDyn.html#a61b9dfb8b579bbe132c0f1e48d2b4db7">Pin_KinDyn::intQuat</a></div><div class="ttdeci">static Eigen::Quaterniond intQuat(const Eigen::Quaterniond &amp;quat, const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;w)</div><div class="ttdoc">integrate quaternion helper function used in intergrateDIY</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00165">pino_kin_dyn.cpp:165</a></div></div>
<div class="ttc" id="astructDataBus_html_aad4b760c5cb1103d2409810f887cace3"><div class="ttname"><a href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">DataBus::dJ_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00061">data_bus.h:61</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a3d2d699d8fb1754f980477615515638c"><div class="ttname"><a href="classPin__KinDyn.html#a3d2d699d8fb1754f980477615515638c">Pin_KinDyn::computeJ_dJ</a></div><div class="ttdeci">void computeJ_dJ()</div><div class="ttdoc">compute the jacobian matrix and jacobian time variant matrix</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00121">pino_kin_dyn.cpp:121</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_a0d63c9ab89199854133715615d85e552"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#a0d63c9ab89199854133715615d85e552">Pin_KinDyn::IkRes::itr</a></div><div class="ttdeci">int itr</div><div class="ttdoc">iteration to calculate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00114">pino_kin_dyn.h:114</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html_adecc161fc3130c4343a30ae745db4c05"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html#adecc161fc3130c4343a30ae745db4c05">Pin_KinDyn::IkRes::err</a></div><div class="ttdeci">Eigen::VectorXd err</div><div class="ttdoc">error of calculation</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00115">pino_kin_dyn.h:115</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab21a25c6745c2a38a88d99686fcac914"><div class="ttname"><a href="classPin__KinDyn.html#ab21a25c6745c2a38a88d99686fcac914">Pin_KinDyn::dJ_base</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_base</div><div class="ttdoc">jacobian time variation matrix of base link</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00062">pino_kin_dyn.h:62</a></div></div>
<div class="ttc" id="astructDataBus_html_a8174314fc64353b48695467949dddb20"><div class="ttname"><a href="structDataBus.html#a8174314fc64353b48695467949dddb20">DataBus::J_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00058">data_bus.h:58</a></div></div>
<div class="ttc" id="astructDataBus_html_a6e6e46a9c55551f1f13b82d9f62ec1fc"><div class="ttname"><a href="structDataBus.html#a6e6e46a9c55551f1f13b82d9f62ec1fc">DataBus::dJ_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00062">data_bus.h:62</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a157366596bcb2d276f63ccadeb71c4b5"><div class="ttname"><a href="classPin__KinDyn.html#a157366596bcb2d276f63ccadeb71c4b5">Pin_KinDyn::J_hd_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00061">pino_kin_dyn.h:61</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a1a645b13e20a97675f7d7f88ce32d3e2"><div class="ttname"><a href="classPin__KinDyn.html#a1a645b13e20a97675f7d7f88ce32d3e2">Pin_KinDyn::motorName</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; motorName</div><div class="ttdoc">all the names of the motors</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00033">pino_kin_dyn.h:33</a></div></div>
<div class="ttc" id="astructDataBus_html_a7ddad63ca212708e9e3c880567c9f99a"><div class="ttname"><a href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">DataBus::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of dynamic parameters dyn_M</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00095">data_bus.h:95</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ac4040e935721db8ea7cf0fad90599ad7"><div class="ttname"><a href="classPin__KinDyn.html#ac4040e935721db8ea7cf0fad90599ad7">Pin_KinDyn::fe_l_rot</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00081">pino_kin_dyn.h:81</a></div></div>
<div class="ttc" id="astructDataBus_html_a2481f4929359c2f0fbdb6924f5f77958"><div class="ttname"><a href="structDataBus.html#a2481f4929359c2f0fbdb6924f5f77958">DataBus::hip_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos_W</div><div class="ttdoc">left hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00075">data_bus.h:75</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab48b18384639b211ac70cdb670a6dd90"><div class="ttname"><a href="classPin__KinDyn.html#ab48b18384639b211ac70cdb670a6dd90">Pin_KinDyn::fe_l_rot_body</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_body</div><div class="ttdoc">left foot rotation matrix in body frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00084">pino_kin_dyn.h:84</a></div></div>
<div class="ttc" id="astructDataBus_html_ad4c67bd1538d0e0c6f101de61219666a"><div class="ttname"><a href="structDataBus.html#ad4c67bd1538d0e0c6f101de61219666a">DataBus::fe_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_L</div><div class="ttdoc">right foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00070">data_bus.h:70</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a49cf98ca47a3074a6318dfb72227913a"><div class="ttname"><a href="classPin__KinDyn.html#a49cf98ca47a3074a6318dfb72227913a">Pin_KinDyn::hip_l_pos</a></div><div class="ttdeci">Eigen::Vector3d hip_l_pos</div><div class="ttdoc">left hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00077">pino_kin_dyn.h:77</a></div></div>
<div class="ttc" id="aclassMPC_html"><div class="ttname"><a href="classMPC.html">MPC</a></div><div class="ttdoc">This class implements the model predictive controller.</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8h_source.html#l00036">mpc.h:36</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8c15990b1d6a9bfdbeea23bdc7edef0a"><div class="ttname"><a href="classPin__KinDyn.html#a8c15990b1d6a9bfdbeea23bdc7edef0a">Pin_KinDyn::inertia</a></div><div class="ttdeci">Eigen::Matrix3d inertia</div><div class="ttdoc">current Centroidal Composite Rigid Body Inertia.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00097">pino_kin_dyn.h:97</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8e90245dd880ed9dc08de1e745242e96"><div class="ttname"><a href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">Pin_KinDyn::computeInK_Hand</a></div><div class="ttdeci">IkRes computeInK_Hand(const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</div><div class="ttdoc">Inverse Kinematics for hand posture.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00334">pino_kin_dyn.cpp:334</a></div></div>
<div class="ttc" id="astructDataBus_html_a8901e359598639544806c2ccde5cc7b3"><div class="ttname"><a href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">DataBus::J_r</a></div><div class="ttdeci">Eigen::MatrixXd J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00056">data_bus.h:56</a></div></div>
<div class="ttc" id="astructDataBus_html_a0b4be606ac9be86dc76f6e562d4af358"><div class="ttname"><a href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">DataBus::hd_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_W</div><div class="ttdoc">left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00086">data_bus.h:86</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a186ab4dcf146680f38113f9cbd55de24"><div class="ttname"><a href="classPin__KinDyn.html#a186ab4dcf146680f38113f9cbd55de24">Pin_KinDyn::CoM_pos</a></div><div class="ttdeci">Eigen::Vector3d CoM_pos</div><div class="ttdoc">current com position in world coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00096">pino_kin_dyn.h:96</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6058dfad40de7d8ac0e8b943dc28eb05"><div class="ttname"><a href="classPin__KinDyn.html#a6058dfad40de7d8ac0e8b943dc28eb05">Pin_KinDyn::dJ_hd_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00065">pino_kin_dyn.h:65</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6454448c08ce057ec17466dcafd96666"><div class="ttname"><a href="classPin__KinDyn.html#a6454448c08ce057ec17466dcafd96666">Pin_KinDyn::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00052">pino_kin_dyn.h:52</a></div></div>
<div class="ttc" id="astructDataBus_html_af02ef8e966761be5381e8f8ce1f4f324"><div class="ttname"><a href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">DataBus::dJ_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00060">data_bus.h:60</a></div></div>
<div class="ttc" id="astructDataBus_html_a89e3ed169f2093e233629aebeb105fbc"><div class="ttname"><a href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">DataBus::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00094">data_bus.h:94</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ab80c3e1eded085ad3212d533e6508f20"><div class="ttname"><a href="classPin__KinDyn.html#ab80c3e1eded085ad3212d533e6508f20">Pin_KinDyn::integrateDIY</a></div><div class="ttdeci">Eigen::VectorXd integrateDIY(const Eigen::VectorXd &amp;qI, const Eigen::VectorXd &amp;dqI)</div><div class="ttdoc">intergrate the position q with velocity dq, for floating base dynamics</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00185">pino_kin_dyn.cpp:185</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a1d528b488460f27b8bac70d1e26d9ee1"><div class="ttname"><a href="classPin__KinDyn.html#a1d528b488460f27b8bac70d1e26d9ee1">Pin_KinDyn::dyn_G</a></div><div class="ttdeci">Eigen::MatrixXd dyn_G</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00092">pino_kin_dyn.h:92</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6235d4189f80a1b2ccc5cfeb6c549ca3"><div class="ttname"><a href="classPin__KinDyn.html#a6235d4189f80a1b2ccc5cfeb6c549ca3">Pin_KinDyn::motorReachLimit</a></div><div class="ttdeci">std::vector&lt; bool &gt; motorReachLimit</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00031">pino_kin_dyn.h:31</a></div></div>
<div class="ttc" id="astructDataBus_html_a3300095871d62258ed87b0a8b00e6b95"><div class="ttname"><a href="structDataBus.html#a3300095871d62258ed87b0a8b00e6b95">DataBus::fe_l_pos_L</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_L</div><div class="ttdoc">left foot position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00071">data_bus.h:71</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_afc16893d044c20781a288c5c1710257f"><div class="ttname"><a href="classPin__KinDyn.html#afc16893d044c20781a288c5c1710257f">Pin_KinDyn::hip_r_pos</a></div><div class="ttdeci">Eigen::Vector3d hip_r_pos</div><div class="ttdoc">right hip position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00076">pino_kin_dyn.h:76</a></div></div>
<div class="ttc" id="astructDataBus_html_ae46a01b6e4a05927577e0f9a58bb9528"><div class="ttname"><a href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">DataBus::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00098">data_bus.h:98</a></div></div>
<div class="ttc" id="astructDataBus_html_a29ea8abda4616465d07ecacf866f7ab6"><div class="ttname"><a href="structDataBus.html#a29ea8abda4616465d07ecacf866f7ab6">DataBus::dyn_G</a></div><div class="ttdeci">Eigen::VectorXd dyn_G</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00099">data_bus.h:99</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_ae93c8e81370ff96aa2dc26ff9c92b0a0"><div class="ttname"><a href="classPin__KinDyn.html#ae93c8e81370ff96aa2dc26ff9c92b0a0">Pin_KinDyn::Pin_KinDyn</a></div><div class="ttdeci">Pin_KinDyn(std::string urdf_pathIn)</div><div class="ttdoc">Construct a new Pin_KinDyn object.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00012">pino_kin_dyn.cpp:12</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a040ff598ac7b277f467afafae01d2987"><div class="ttname"><a href="classPin__KinDyn.html#a040ff598ac7b277f467afafae01d2987">Pin_KinDyn::J_hd_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00060">pino_kin_dyn.h:60</a></div></div>
<div class="ttc" id="astructDataBus_html_a1bb8296c8580550caf059e975149658e"><div class="ttname"><a href="structDataBus.html#a1bb8296c8580550caf059e975149658e">DataBus::fe_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_W</div><div class="ttdoc">right foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00064">data_bus.h:64</a></div></div>
<div class="ttc" id="astructDataBus_html_ac2c307051d65ea3679fdc630ac28bbc2"><div class="ttname"><a href="structDataBus.html#ac2c307051d65ea3679fdc630ac28bbc2">DataBus::dyn_C</a></div><div class="ttdeci">Eigen::MatrixXd dyn_C</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00096">data_bus.h:96</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a6e72e11b7c2a7c648a9599e9e912a6f8"><div class="ttname"><a href="classPin__KinDyn.html#a6e72e11b7c2a7c648a9599e9e912a6f8">Pin_KinDyn::hd_r_rot</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot</div><div class="ttdoc">right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00085">pino_kin_dyn.h:85</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a7a635e50f51c600f0cf05d5dc0d60546"><div class="ttname"><a href="classPin__KinDyn.html#a7a635e50f51c600f0cf05d5dc0d60546">Pin_KinDyn::ddq</a></div><div class="ttdeci">Eigen::VectorXd ddq</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00054">pino_kin_dyn.h:54</a></div></div>
<div class="ttc" id="astructDataBus_html_ad7a084dee55715eb8e65307137d71ee5"><div class="ttname"><a href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">DataBus::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00097">data_bus.h:97</a></div></div>
<div class="ttc" id="astructDataBus_html_ab7eb16bbdf791e8f4e08e10cacf9e1fa"><div class="ttname"><a href="structDataBus.html#ab7eb16bbdf791e8f4e08e10cacf9e1fa">DataBus::hd_r_pos_L</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_L</div><div class="ttdoc">left hand position in body frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00087">data_bus.h:87</a></div></div>
<div class="ttc" id="astructDataBus_html_a377a7cdd1719fbdd45391759c52937f4"><div class="ttname"><a href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">DataBus::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00100">data_bus.h:100</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d71c2856c6ecbfec729a09024d026f8"><div class="ttname"><a href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">DataBus::J_l</a></div><div class="ttdeci">Eigen::MatrixXd J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00055">data_bus.h:55</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a36ba08e3ad2dbf911385d54b06f3c0d3"><div class="ttname"><a href="classPin__KinDyn.html#a36ba08e3ad2dbf911385d54b06f3c0d3">Pin_KinDyn::dJ_r</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00064">pino_kin_dyn.h:64</a></div></div>
<div class="ttc" id="astructDataBus_html_ad3ec45a371e1a6cb72a158e651647cd6"><div class="ttname"><a href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">DataBus::dJ_base</a></div><div class="ttdeci">Eigen::MatrixXd dJ_base</div><div class="ttdoc">jacobian time variation matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00059">data_bus.h:59</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a136c294262a7f8a4172c9efb5dec2627"><div class="ttname"><a href="classPin__KinDyn.html#a136c294262a7f8a4172c9efb5dec2627">Pin_KinDyn::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00089">pino_kin_dyn.h:89</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a246c8be67c0f4cadbd6ff9f6289d8808"><div class="ttname"><a href="classPin__KinDyn.html#a246c8be67c0f4cadbd6ff9f6289d8808">Pin_KinDyn::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">generalized coordinate</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00053">pino_kin_dyn.h:53</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a11219e9adc1cdbc5ed664c173d1300a8"><div class="ttname"><a href="classPin__KinDyn.html#a11219e9adc1cdbc5ed664c173d1300a8">Pin_KinDyn::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;robotState)</div><div class="ttdoc">write data to databus</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00077">pino_kin_dyn.cpp:77</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a5d602e453d2796799dce4fbfac4484b5"><div class="ttname"><a href="classPin__KinDyn.html#a5d602e453d2796799dce4fbfac4484b5">Pin_KinDyn::J_l</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 6, -1 &gt; J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00058">pino_kin_dyn.h:58</a></div></div>
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